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1. 发明公开

EP2774730A1 Parallel robot 审中-公开
标题翻译： Parallelroboter
公开(公告)号：EP2774730A1
公开(公告)日：2014-09-10
申请号：EP14151897.7
申请日：2014-01-21
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Mihara, Nobuhiko , Sanada, Takashi , Tominaga, Ryuichiro
IPC分类号： B25J17/02 , B25J19/00 , B25J9/00
CPC分类号： B25J17/02 , B25J9/003 , B25J19/0025 , Y10T74/20335
摘要： A parallel robot 50 includes a plurality of actuators 12, a wrist portion 30, and a plurality of arms 20 that respectively connect the wrist portion 30 to the plurality of actuators 12. The wrist portion 30 includes a base portion 33 that includes a plurality of connection portions 32 respectively connected to the plurality of arms 20 and a rotation member 36 that rotates about a rotation axis CL3 located outside an area surrounded by the plurality of connection portions 32. The rotation member 36 is provided with a through-hole 37 that is formed along the rotation axis CL3.
摘要翻译：平行机器人50包括分别将腕部30连接到多个致动器12的多个致动器12，腕部30和多个臂20.手腕部30包括：基部33，其包括多个分别连接到多个臂20的连接部32和围绕由多个连接部32围绕的区域外侧的旋转轴线CL3旋转的旋转部件36.旋转部件36设置有贯通孔37，沿旋转轴线CL3形成。

2. 发明公开

EP2623273A3 Parallel link robot 审中-公开
标题翻译：机器人的并行链路
公开(公告)号：EP2623273A3
公开(公告)日：2014-06-04
申请号：EP13152368.0
申请日：2013-01-23
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukudome, Kazuhiro , Mihara, Nobuhiko
IPC分类号： B25J17/02 , B25J9/00
CPC分类号： B25J18/00 , B25J9/003 , B25J9/0051 , B25J17/0266 , Y10S901/27 , Y10T74/20305
摘要： A parallel link robot includes a first arm including a first joint portion; a second arm including a second joint portion swingably engaging with the first joint portion, the second arm being connected to the first arm to make up a link mechanism; and a biasing mechanism unit which biases the second joint portion toward the first joint portion. The biasing mechanism unit includes a connection member attached to the second arm and the connection member includes a locking portion configured to lock the connection member to the second arm.

3. 发明授权

EP2546032B1 Parallel link robot and picking system 有权
公开(公告)号：EP2546032B1
公开(公告)日：2020-04-15
申请号：EP12176307.2
申请日：2012-07-13
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukudome, Kazuhiro , Sanada, Takashi , Mihara, Nobuhiko
IPC分类号： B25J17/02 , B25J19/00 , B25J9/00

4. 发明公开

EP2623270A3 Parallel link robot system 审中-公开
标题翻译：机器人系统与并行链路
公开(公告)号：EP2623270A3
公开(公告)日：2014-06-11
申请号：EP13152333.4
申请日：2013-01-23
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukudome, Kazuhiro , Mihara, Nobuhiko
IPC分类号： B25J9/00 , B25J17/02 , B25J9/16
CPC分类号： B25J9/1065 , B25J9/0018 , B25J9/0051 , B25J9/0093 , B25J9/1687 , B25J17/0266 , G05B2219/39552 , G05B2219/40267 , Y10S901/27
摘要： A parallel link robot system includes a picking section from which a target object is picked, a placing section on which the target object picked from the picking section is placed, the placing section being arranged in a height position lower than the picking section, a parallel link robot including a plurality of parallel-connected link mechanism units and a holding unit attached to tip end portions of the link mechanism units, and a control unit for controlling an operation of the parallel link robot. The control unit is configured to execute a control for causing the parallel link robot to perform a picking operation by which the target object is held and picked from the picking section and a placing operation by which the target object picked by the picking operation is placed on the placing section.

5. 发明公开

EP2623273A2 Parallel link robot 审中-公开
标题翻译：机器人平行机Verknüpfung
公开(公告)号：EP2623273A2
公开(公告)日：2013-08-07
申请号：EP13152368.0
申请日：2013-01-23
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukudome, Kazuhiro , Mihara, Nobuhiko
IPC分类号： B25J17/02 , B25J9/00
CPC分类号： B25J18/00 , B25J9/003 , B25J9/0051 , B25J17/0266 , Y10S901/27 , Y10T74/20305
摘要： A parallel link robot includes a first arm including a first joint portion; a second arm including a second joint portion swingably engaging with the first joint portion, the second arm being connected to the first arm to make up a link mechanism; and a biasing mechanism unit which biases the second joint portion toward the first joint portion. The biasing mechanism unit includes a connection member attached to the second arm and the connection member includes a locking portion configured to lock the connection member to the second arm.
摘要翻译：平行连杆机器人包括：第一臂，包括第一接头部分; 第二臂，包括可摆动地与所述第一接合部接合的第二接合部，所述第二臂连接到所述第一臂以构成连杆机构; 以及偏压机构单元，其将所述第二接合部分朝向所述第一接合部分偏压。偏置机构单元包括附接到第二臂的连接构件，并且连接构件包括构造成将连接构件锁定到第二臂的锁定部。

6. 发明授权

EP2810744B1 Parallel robot, robot system, and assembly method for transfer system 有权
公开(公告)号：EP2810744B1
公开(公告)日：2018-07-18
申请号：EP14163037.6
申请日：2014-04-01
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Mihara, Nobuhiko , Sanada, Takashi
IPC分类号： B25J9/00 , B25J17/02 , B25J19/00
CPC分类号： B25J19/0029 , B25J9/0018 , B25J9/003 , B25J9/0051 , Y10S901/27 , Y10T74/20311
摘要： A parallel robot 1 includes a base casing 11, a plurality of arms 20, and an end unit 30. The base casing 11 contains a plurality of actuators 12. Each of the arms 20 is coupled to one of the actuators 12. The end unit 30 is coupled to the plurality of arms 20. A communication hole 11c for allowing piping and/or wiring to continue is formed in the base casing 11 at its side facing the end unit 30.

7. 发明公开

EP2810744A1 Parallel robot, robot system, and assembly method for transfer system 有权
标题翻译： Parallelroboter，Robotersystem und MontageverfahrenfüreinÜbertragungssystem
公开(公告)号：EP2810744A1
公开(公告)日：2014-12-10
申请号：EP14163037.6
申请日：2014-04-01
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Mihara, Nobuhiko , Sanada, Takashi
IPC分类号： B25J9/00 , B25J17/02 , B25J19/00
CPC分类号： B25J19/0029 , B25J9/0018 , B25J9/003 , B25J9/0051 , Y10S901/27 , Y10T74/20311
摘要： A parallel robot 1 includes a base casing 11, a plurality of arms 20, and an end unit 30. The base casing 11 contains a plurality of actuators 12. Each of the arms 20 is coupled to one of the actuators 12. The end unit 30 is coupled to the plurality of arms 20. A communication hole 11c for allowing piping and/or wiring to continue is formed in the base casing 11 at its side facing the end unit 30.
摘要翻译：平行机器人1包括基座壳体11，多个臂20和端部单元30.基部壳体11包含多个致动器12.臂20中的每一个联接到致动器12中的一个。端部单元 30连接到多个臂20.用于允许管道和/或布线继续的连通孔11c在其面向端部单元30的一侧形成在基部壳体11中。

8. 发明公开

EP2623270A2 Parallel link robot system 审中-公开
标题翻译：机器人系统平行机Verknüpfung
公开(公告)号：EP2623270A2
公开(公告)日：2013-08-07
申请号：EP13152333.4
申请日：2013-01-23
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukudome, Kazuhiro , Mihara, Nobuhiko
IPC分类号： B25J9/00 , B25J17/02 , B25J9/16
CPC分类号： B25J9/1065 , B25J9/0018 , B25J9/0051 , B25J9/0093 , B25J9/1687 , B25J17/0266 , G05B2219/39552 , G05B2219/40267 , Y10S901/27
摘要： A parallel link robot system includes a picking section from which a target object is picked, a placing section on which the target object picked from the picking section is placed, the placing section being arranged in a height position lower than the picking section, a parallel link robot including a plurality of parallel-connected link mechanism units and a holding unit attached to tip end portions of the link mechanism units, and a control unit for controlling an operation of the parallel link robot. The control unit is configured to execute a control for causing the parallel link robot to perform a picking operation by which the target object is held and picked from the picking section and a placing operation by which the target object picked by the picking operation is placed on the placing section.
摘要翻译：平行连杆机器人系统包括拾取目标物体的拾取部分，放置从拾取部分拾取的目标物体的放置部分，放置部分布置在低于拾取部分的高度位置，平行连杆机构，其包括多个平行连接的连杆机构单元，以及固定单元，其安装在所述连杆机构单元的前端部，以及控制单元，用于控制所述并联连杆机器人的动作。控制单元被配置为执行用于使并行链接机器人执行从拾取部保持和拾取目标对象的拾取操作的控制以及通过拾取操作拾取的目标对象被放置的放置操作放置部分。

9. 发明公开

EP2546032A3 Parallel link robot and picking system 有权
标题翻译：并联机器人和记录系统
公开(公告)号：EP2546032A3
公开(公告)日：2013-06-12
申请号：EP12176307.2
申请日：2012-07-13
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukudome, Kazuhiro , Sanada, Takashi , Mihara, Nobuhiko
IPC分类号： B25J17/02 , B25J19/00 , B25J9/00
摘要： A parallel link robot includes a housing, a plurality of driving devices, and a plurality of arms. The housing includes arm coupling openings and a receiving opening. The plurality of driving devices are disposed in the receiving opening of the housing. The plurality of driving devices are attachable and detachable from and in a direction above the receiving opening. The plurality of arms are coupled to the respective driving devices through the respective arm coupling openings.

10. 发明公开

EP2546032A2 Parallel link robot and picking system 有权
标题翻译：并联机器人和采摘系统
公开(公告)号：EP2546032A2
公开(公告)日：2013-01-16
申请号：EP12176307.2
申请日：2012-07-13
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukudome, Kazuhiro , Sanada, Takashi , Mihara, Nobuhiko
IPC分类号： B25J17/02
摘要： A parallel link robot includes a housing, a plurality of driving devices, and a plurality of arms. The housing includes arm coupling openings and a receiving opening. The plurality of driving devices are disposed in the receiving opening of the housing. The plurality of driving devices are attachable and detachable from and in a direction above the receiving opening. The plurality of arms are coupled to the respective driving devices through the respective arm coupling openings.
摘要翻译：平行连杆机器人包括壳体，多个驱动装置和多个臂。壳体包括臂连接开口和接收开口。多个驱动装置设置在壳体的接收开口中。多个驱动装置能够从容纳开口的上方和从容纳开口的上方拆卸。多个臂通过相应的臂联接开口联接到相应的驱动装置。

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